CN105737852A - Laser range finder position measuring and correcting system and method - Google Patents

Laser range finder position measuring and correcting system and method Download PDF

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Publication number
CN105737852A
CN105737852A CN201610077163.9A CN201610077163A CN105737852A CN 105737852 A CN105737852 A CN 105737852A CN 201610077163 A CN201610077163 A CN 201610077163A CN 105737852 A CN105737852 A CN 105737852A
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China
Prior art keywords
scaling board
laser
laser ranging
ranging unit
unit
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Granted
Application number
CN201610077163.9A
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Chinese (zh)
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CN105737852B (en
Inventor
郭弟
熊蓉
毛曙源
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HANGZHOU IPLUS TECH CO.,LTD.
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Hangzhou Ltd Co Of Nan Jiang Robot
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Priority to CN201610077163.9A priority Critical patent/CN105737852B/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a laser range finder position measuring and correcting system and method.The system comprises a first calibration board, a second calibration board, a position fixing standard part, a laser ranging unit, a control unit, a data processing unit and a carrier device, wherein the first calibration board and the second calibration board are used for reflecting laser light, and an included angle is formed between the first calibration board and the second calibration board.Only the first calibration board and the second calibration board serve as the external components of the system, the carrier device, the laser ranging unit, the data processing unit and the control unit are intrinsic devices of the product, and therefore the system is quite easy to manufacture and operate.When the system is used for measuring whether a measurement result of a laser range finder in the carrier device is wrong, measurement is conducted when the first calibration board is perpendicular to the second calibration board, the geometrical relationship between the positions of the laser ranging unit placed at two times is simple, the accuracy of the measurement result is high, cost is low, operation is easy, and precision meets practical requirements.

Description

Laser range finder position measurement and correction system and method
Technical field
The present invention relates to a kind of laser range finder position measurement and correction system and method.
Background technology
Along with the development of computer and robotics, mobile apparatus people is developed rapidly and extensive use, has almost penetrated into the every field of social life.Laser range finder has the advantages such as fast, little, the dependable performance of volume of range finding.In recent years, along with its cost is constantly lowered, increasingly it is widely used in location and the navigation of mobile apparatus people.
Before the use, laser range finder needs to demarcate with car body coordinate, Laser Measurement diastimeter position in bodywork reference frame, to carry out information fusion with other sensor such as photographic head, speedometer etc., better for location navigation, in specifically used process, laser range finder needs according to specifying pose to install, and namely the installation site of laser range finder, the angle of pitch and deflection angle need to meet the requirements；During as installed laser range finder, there is the angle of pitch and have deviation with deflection angle or position in laser range finder, can cause that measurement result is inaccurate, thus causing that the location information obtained is inaccurate, generally requires that the angle of pitch and deflection angle are all 0.
Summary of the invention
Present invention aims to the deficiencies in the prior art, it is provided that a kind of laser range finder position measurement and correction system and method.
It is an object of the invention to be achieved through the following technical solutions: a kind of laser range finder position measurement and correction system, described system includes the first scaling board, the second scaling board, the fixing tender in position, laser ranging unit, control unit, data processing unit and carrier arrangement；
Described carrier arrangement is as the carrier installing laser ranging unit, control unit, data processing unit, and described carrier arrangement is provided with driving wheel, and the center of described driving wheel is for the side-play amount of Calibration of Laser range cells；
Described data processing unit is for processing and calculate the laser scanning point data that laser ranging unit is passed back；
Described control device is for controlling the transmitting of laser and the reception of laser ranging unit, and the data that laser ranging unit spreads out of are passed to data processing unit carries out the calculating of data；
Described laser ranging unit, for launching and receive the laser of reflection, produces the data of each laser scanning point；
The fixing tender in described position is for multi-faceted immobilization carrier device；
Described first scaling board and the second scaling board are used for reflecting laser, and the first scaling board and the second scaling board form angle and place.
Further, described carrier arrangement includes the first draw-in groove and the second draw-in groove, can twice immobilization carrier device, the laser ranging unit installed when making immobilization carrier device is respectively just to the first scaling board, the second scaling board.
Further, vertical second scaling board of the first scaling board, the first card slot and the second draw-in groove parallel first scaling board and the second scaling board respectively.
Further, described first scaling board and the second scaling board height adjustable, for adapting to the height of laser ranging unit.
A kind of laser range finder position measurement and bearing calibration, the method is based on above-mentioned measurement system, carrier arrangement is successively laid for twice just to the first scaling board and the second scaling board, the geometrical relationship that when laying for twice according to carrier arrangement, the position of laser ranging unit is formed, obtain laser ranging unit installation site in carrier arrangement, to judge whether to have when laser ranging unit is installed the deviation on position, and adjust the position of laser ranging unit.
Further, described first scaling board is vertical with described second scaling board, and the geometrical relationship of the laser ranging unit that described carrier arrangement lays formation for twice is:
‖L1-O ‖=‖ L2-O‖
∠(L1-O, L2-O)=pi/2
Wherein, O is driving wheel centre coordinate to be asked, L1, L2Respectively twice position measurement coordinate of laser ranging unit under overall situation rectangular coordinate system.
Further, judging whether its installation site produces deviation according to the side-play amount of the laser ranging cell distance driving wheel centre coordinate obtained, the computing formula of described side-play amount is as follows:
d 1 = 1 2 ( L 1 ( x ) + L 1 ( y ) - L 2 ( x ) - L 2 ( y ) )
d 2 = 1 2 ( - L 1 ( x ) + L 1 ( y ) + L 2 ( x ) - L 2 ( y ) )
Wherein d1For the side-play amount on laser ranging cell distance wheel center first direction, d2For the side-play amount in laser ranging cell distance wheel center second direction.
The invention has the beneficial effects as follows: the external module of present system only includes the first scaling board and the second scaling board, and carrier arrangement, laser ranging unit, data processing unit, control unit is product device inherently, therefore native system making and operation all very simple, whether application native system Laser Measurement diastimeter measurement result in carrier arrangement has deviation, utilize and measure during the first vertical second scaling board of scaling board, the geometrical relationship that the laser ranging cell position laid for twice is formed is simple, and measurement result accuracy is high, there is cost low, simple to operate, precision meets the advantages such as real requirement.
Accompanying drawing explanation
Fig. 1 is laser range finder position measurement of the present invention and correction system architecture diagram；
Fig. 2 be laser ranging unit just to the first scaling board time schematic diagram；
Fig. 3 be laser ranging unit just to the second scaling board time schematic diagram；
Fig. 4 be laser ranging unit just to the first scaling board time laser range finder position measurement and bearing calibration schematic diagram；
Fig. 5 be laser ranging unit just to the second scaling board time laser range finder position measurement and bearing calibration schematic diagram；
In figure, first scaling board the 1, second scaling board 2, the fixing tender 3 in position, laser ranging unit 4, control unit 5, data process list 6, carrier arrangement the 7, first draw-in groove the 31, second draw-in groove 32.
Detailed description of the invention
Occasion at application laser range finder, the measurement of the installation site to laser range finder, the angle of pitch, deflection angle and correction is needed after installing laser range finder, laser range finder deviation in installation process is made to meet application scenario requirement, in order to carry out information fusion with other sensor such as photographic head, speedometer etc..
The laser range finder position measurement of the present invention and correction system are provided with in any smart motion system of laser range finder the position deviation of laser range finder in order to measure with correcting, the test device of the present invention as Figure 1-3, mainly includes first scaling board the 1, second scaling board 2, the fixing tender 3 in position, laser ranging unit 4, control unit 5, data process single 6 and carrier arrangement 7；
Described carrier arrangement 7 is as the carrier installing laser ranging unit 4, control unit 5, data processing unit 6 etc., and carrier arrangement is provided with driving wheel, can move freely under control unit 5 acts in a plane；The position of the laser ranging unit 4 of the present invention is the dead ahead at carrier arrangement 7 direction of advance driving wheel center, and described driving wheel center is for the side-play amount of Calibration of Laser range cells 4, and namely described side-play amount is the skew relative to driving wheel center；
Described data processing unit 6 is for processing and calculate the laser scanning point data that laser ranging unit 4 is passed back；
Described control device 5 is for controlling transmitting and the reception of the laser of laser ranging unit 4, and the data that laser ranging unit 4 spreads out of pass to data processing unit 6 carries out the calculating of data；
Described laser ranging unit 4, for launching and receive the laser of reflection, produces the data of each laser scanning point.
The fixing tender 3 in described position is for multi-faceted immobilization carrier device 7, as shown in Figure 1, Figure 2, Figure 3 shows, the carrier arrangement 7 of the present invention includes the first draw-in groove 31 and the second draw-in groove 32, can twice immobilization carrier device 7, make the laser ranging unit 4 installed during immobilization carrier device 7 respectively just to first scaling board the 1, second scaling board 2, in the present embodiment, the first card slot and the second draw-in groove 32 parallel first scaling board 1 and the second scaling board 2 respectively.
Described first scaling board 1 and the second scaling board 2 are used for reflecting laser, and the first scaling board 1 and the second mark form angle, and can move installation respectively, height adjustable, for adapting to the height of laser ranging unit 4,
The present embodiment, during the position of Laser Measurement range cells 4, vertical second scaling board 2 of the first scaling board 1, the first draw-in groove 31 and the second draw-in groove 32 are mutually perpendicular to, and center superposition.
Laser ranging unit 4 location measurement method of the present invention is based on above-mentioned measurement system, carrier arrangement 7 is fixed on for twice on the fixing tender 3 in position just to the first scaling board 1 and the second scaling board 2, during measurement, first scaling board 1 and the second scaling board 2 at an angle, to obtain the geometrical relationship that laser ranging unit 4 is formed in twice riding position.
The geometrical relationship that when laying for twice according to carrier arrangement 7, the position of laser ranging unit 4 is formed, obtain the laser ranging unit 4 installation site in carrier arrangement 7, in the present embodiment, vertical second scaling board 2 of first scaling board 1, carrier arrangement 7 is successively laid for twice as shown in Figure 4, Figure 5, the geometrical relationship of laser ranging unit 4 position that twice riding position according to carrier arrangement 7 is formed, has:
‖L1-O ‖=‖ L2-O‖
∠(L1-O, L2-O)=pi/2
Wherein, O is driving wheel centre coordinate, L1, L2Respectively twice position measurement coordinate of laser ranging unit 4 under global coordinate system, i.e. two-dimensional position under global coordinate system, described global coordinate system is a people is the rectangular coordinate system set up, and is y-axis with parallel first scaling board 1 direction, parallel second scaling board 2 direction is for x-axis.
Obtain the laser ranging unit 4 offset d apart from wheel center1, d2, wherein d1For the side-play amount on laser ranging cell distance wheel center first direction, d2For the side-play amount in laser ranging cell distance wheel center second direction, the parallel y-axis of described first direction, the parallel x-axis of described second direction.
d 1 = 1 2 ( L 1 ( x ) + L 1 ( y ) - L 2 ( x ) - L 2 ( y ) )
d 2 = 1 2 ( - L 1 ( x ) + L 1 ( y ) + L 2 ( x ) - L 2 ( y ) )
Judge side-play amount d1, d2Whether meeting installation requirement, in the present embodiment, laser ranging unit 4 requires to be arranged on carrier arrangement 7 medium position, if d1It is not zero, then judges that the installation site of laser ranging unit 4 produces deviation, adjust laser ranging unit 4 position.
When adopting the first scaling board 1 and the second scaling board 2 out of plumb to measure, ∠ (L1-O, L2-O) it is the angle value being actually formed.

Claims (7)

1. a laser range finder position measurement and correction system, it is characterised in that described system includes the first scaling board, the second scaling board, the fixing tender in position, laser ranging unit, control unit, data processing unit and carrier arrangement；
Described carrier arrangement is as the carrier installing laser ranging unit, control unit, data processing unit, and described carrier arrangement is provided with driving wheel, and the center of described driving wheel is for the side-play amount of Calibration of Laser range cells；
Described data processing unit is for processing and calculate the laser scanning point data that laser ranging unit is passed back；
Described control device is for controlling the transmitting of laser and the reception of laser ranging unit, and the data that laser ranging unit spreads out of are passed to data processing unit carries out the calculating of data；
Described laser ranging unit, for launching and receive the laser of reflection, produces the data of each laser scanning point；
The fixing tender in described position is for multi-faceted immobilization carrier device；
Described first scaling board and the second scaling board are used for reflecting laser, and the first scaling board and the second scaling board form angle and place.
2. the system of laser range finder position measurement as claimed in claim 1 and correction, it is characterized in that, described carrier arrangement includes the first draw-in groove and the second draw-in groove, can twice immobilization carrier device, the laser ranging unit installed when making immobilization carrier device is respectively just to the first scaling board, the second scaling board.
3. laser range finder position measurement as claimed in claim 2 and correction system, it is characterised in that vertical second scaling board of the first scaling board, the first card slot and the second draw-in groove be parallel first scaling board and the second scaling board respectively.
4. the laser range finder position measurement as described in claim 1,2 or 3 and correction system, it is characterised in that described first scaling board and the second scaling board height adjustable, for adapting to the height of laser ranging unit.
5. a laser range finder position measurement and bearing calibration, it is characterized in that, the method is based on the measurement system described in claim 1, carrier arrangement is successively laid for twice just to the first scaling board and the second scaling board, the geometrical relationship that when laying for twice according to carrier arrangement, the position of laser ranging unit is formed, obtain laser ranging unit installation site in carrier arrangement, to judge whether to have when laser ranging unit is installed the deviation on position, and adjust the position of laser ranging unit.
6. method as claimed in claim 5, it is characterised in that described first scaling board is vertical with described second scaling board, and the geometrical relationship of the laser ranging unit that described carrier arrangement lays formation for twice is:
||L1-O | |=| | L2-O||
∠(L1-O, L2-O)=pi/2
Wherein, O is driving wheel centre coordinate to be asked, L1, L2Respectively twice position measurement coordinate of laser ranging unit under overall situation rectangular coordinate system.
7. the method as described in claim 5 or 6, it is characterised in that judging whether its installation site produces deviation according to the side-play amount of the laser ranging cell distance driving wheel centre coordinate obtained, the computing formula of described side-play amount is as follows:
d 1 = 1 2 ( L 1 ( x ) + L 1 ( y ) - L 2 ( x ) - L 2 ( y ) )
d 2 = 1 2 ( - L 1 ( x ) + L 1 ( y ) + L 2 ( x ) - L 2 ( y ) )
Wherein d1For the side-play amount on laser ranging cell distance wheel center first direction, d2For the side-play amount in laser ranging cell distance wheel center second direction.
CN201610077163.9A 2016-02-04 2016-02-04 The measurement of laser range finder position and correction system and method Active CN105737852B (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106556826A (en) * 2016-11-24 2017-04-05 国网山东省电力公司电力科学研究院 Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method
CN107677295A (en) * 2017-11-22 2018-02-09 马玉华 A kind of aircraft inertia Navigation system error calibration system and method
CN109031253A (en) * 2018-08-27 2018-12-18 森思泰克河北科技有限公司 Laser radar calibration system and scaling method
CN109061608A (en) * 2018-05-23 2018-12-21 顺丰科技有限公司 A kind of laser ranging calibration method
CN109557523A (en) * 2018-11-16 2019-04-02 北京遥感设备研究所 Detection measurement laser and aiming laser are directed toward the positioning baffle and method of angle
CN111026081A (en) * 2019-12-10 2020-04-17 苏州智加科技有限公司 Error calculation method, device, equipment and storage medium
CN111944657A (en) * 2020-08-07 2020-11-17 上海仁度生物科技有限公司 Position calibration method of automatic nucleic acid extraction device
CN112987011A (en) * 2021-02-05 2021-06-18 浙江欣奕华智能科技有限公司 Laser radar determining method and adjusting equipment

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CN101923163A (en) * 2010-07-22 2010-12-22 首都师范大学 Method and system for calibrating laser scanner
CN102121827A (en) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 Positioning system of mobile robot and positioning method thereof
CN103257342A (en) * 2013-01-11 2013-08-21 大连理工大学 Three-dimension laser sensor and two-dimension laser sensor combined calibration method
US20140309960A1 (en) * 2013-04-12 2014-10-16 p3d systems GmbH Method for Calibrating a Detection Device, and Detection Device
CN105136058A (en) * 2015-05-14 2015-12-09 上海大学 On-line calibrating device of laser sensing three-dimensional measure system, and calibrating method thereof

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CN101201403A (en) * 2007-04-27 2008-06-18 北京航空航天大学 Three-dimensional polarization imaging lidar remote sensor
CN101923163A (en) * 2010-07-22 2010-12-22 首都师范大学 Method and system for calibrating laser scanner
CN102121827A (en) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 Positioning system of mobile robot and positioning method thereof
CN103257342A (en) * 2013-01-11 2013-08-21 大连理工大学 Three-dimension laser sensor and two-dimension laser sensor combined calibration method
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106556826A (en) * 2016-11-24 2017-04-05 国网山东省电力公司电力科学研究院 Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method
CN106556826B (en) * 2016-11-24 2018-12-04 国网山东省电力公司电力科学研究院 Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method
CN107677295A (en) * 2017-11-22 2018-02-09 马玉华 A kind of aircraft inertia Navigation system error calibration system and method
CN107677295B (en) * 2017-11-22 2023-09-26 马玉华 Error calibration system and method for inertial navigation system of aircraft
CN109061608A (en) * 2018-05-23 2018-12-21 顺丰科技有限公司 A kind of laser ranging calibration method
CN109061608B (en) * 2018-05-23 2021-09-28 顺丰科技有限公司 Laser ranging calibration method
CN109031253A (en) * 2018-08-27 2018-12-18 森思泰克河北科技有限公司 Laser radar calibration system and scaling method
CN109557523A (en) * 2018-11-16 2019-04-02 北京遥感设备研究所 Detection measurement laser and aiming laser are directed toward the positioning baffle and method of angle
CN111026081A (en) * 2019-12-10 2020-04-17 苏州智加科技有限公司 Error calculation method, device, equipment and storage medium
CN111944657A (en) * 2020-08-07 2020-11-17 上海仁度生物科技有限公司 Position calibration method of automatic nucleic acid extraction device
CN112987011A (en) * 2021-02-05 2021-06-18 浙江欣奕华智能科技有限公司 Laser radar determining method and adjusting equipment

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